/// <summary>
/// retrieve neighbors given a node in the graph
/// </summary>
/// <param name="node"></param>
/// <returns></returns>
public List <AstarNode> Neighbors(AstarNode node)
{
var dirs = new List <Point>()
{
new Point(1, 0),
new Point(1, 1),
new Point(0, 1),
new Point(-1, 1),
new Point(-1, 0),
new Point(-1, -1),
new Point(0, -1),
new Point(1, -1),
};
var neighbors = new List <AstarNode>();
foreach (var dir in dirs)
{
var pos = new Point(node.U + dir.U, node.V + dir.V);
var nay = GetNode(pos);
if (nay != null)
{
neighbors.Add(nay);
}
}
return(neighbors);
}
public void Generate()
{
var positions = Utilities.CreateGrid(Cols, Rows);
foreach (var p in positions)
{
var node = new AstarNode(p.U, p.V, Nodes.Count);
Nodes.Add(node);
}
var r = new Random();
Destination = Nodes[r.Next(0, Nodes.Count)];
Nodes.ForEach(n => n.H = Utilities.ManhattanDistance(new Point(n.U, n.V), new Point(Destination.U, Destination.V)));
}
public void Clear()
{
Nodes.Clear();
Nodes = new List <AstarNode>();
Destination = null;
}
public AstarNode GetNode(Point p)
{
AstarNode node = Nodes.Find(n => n.U == p.U && n.V == p.V);
return(node);
}
public AstarNode GetNode(AstarNode an)
{
AstarNode node = Nodes.Find(n => n.U == an.U && n.V == an.V);
return(node);
}